Shuffle Turn and Translation of Humanoid Robots

摘要：

This paper proposes a novel shuf.e-translating method that combines shuf.e turns repeatedly for a humanoid robot. Conventionally, the walking motion of a humanoid robot is performed through a repeated foot stepping motion. However, this motion is inef.cient and has low stability. Previously, we have studied the shuf.e-turning method for a humanoid robot, which can perform a stepless and stable turning. In this paper, we present a precise shuf.e turn with feedback control and a new shuf.e translation method by repeating shuf- .e turns. Experiments using a humanoid robot were conducted and the results revealed that the proposed method was effective for shuf.e translation.

作者: Masanao Koeda Yumi Uda Seiji Sugiyama Tsuneo Yoshikawa

作者单位: Department of Computer Science,Osaka Electro-Communication University,Kiyotaki 1130-70 Shijyonawate, Department of Human and Computer Intelligence,Ritsumeikan University,Noji Higashi 1-1-1 Kusatsu,525-

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 593-598

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）